Pneumatic systems and robots

Abstract

The present application relates to the field of robotics technology, and discloses a pneumatic system and a robot. The pneumatic system includes a first flow guide tube, a second flow guide tube, and a control valve. The first flow guide tube includes a first interface and a second interface, and the first interface is connected to a high-pressure gas supply device; the second flow guide tube includes a first connection port and a second connection port, and the first connection port is connected to a pneumatic device. One of the connection valve ports of the control valve is connected to the second interface, and the other connection valve port is connected to the second connection port. The pressure relief valve port faces the component to be cooled. The first flow guide tube and the second flow guide tube are connected through the control valve to form a pneumatic fluid channel. Compared with the prior art, the high-pressure gas supply device can supply gas to the pneumatic device through the pneumatic fluid channel, and the high-pressure gas provided by the high-pressure gas supply device can be discharged from the pressure relief valve port through the pressure relief valve port of the control valve to quickly cool the component to be cooled, thereby avoiding local heating.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a pneumatic system and a robot. Background Art

[0002] With the development of intelligent manufacturing, robots are being used in a growing number of technological fields. Robots often operate by driving pneumatic equipment to adjust their positions and, through their internal pneumatic systems, to perform corresponding production operations. However, during robot operation, some parts often overheat, preventing heat dissipation. This ultimately reduces component lifespan and increases user costs. Summary of the Invention

[0003] In order to solve the technical problem of heating of local parts of a robot, the main purpose of this application is to provide a pneumatic system and a robot that can quickly cool down local heating parts.

[0004] To achieve the above-mentioned invention objectives, this application adopts the following technical solutions:

[0005] According to one aspect of the present application, there is provided a pneumatic system, comprising:

[0006] A first flow guide tube includes a first interface and a second interface, wherein the first interface is connected to a high-pressure gas supply device external to the robot;

[0007] A second flow guide pipe includes a first connection port and a second connection port, wherein the first connection port is connected to the pneumatic device of the robot;

[0008] The control valve includes two connecting valve ports and a pressure relief valve port, wherein one of the connecting valve ports is connected to the second interface, and the other connecting valve port is connected to the second connecting port, and the pressure relief valve port faces the component to be cooled. The first guide tube and the second guide tube are connected through the control valve to form a pneumatic fluid channel, and the high-pressure air supply equipment supplies air to the pneumatic equipment through the pneumatic fluid channel.

[0009] According to one embodiment of the present application, it also includes a guide member, one end of which is connected to the pressure relief valve port, and the other end extends to the component to be cooled. The guide member forms a guide channel, and the gas from the pressure relief valve port flows to the component to be cooled through the guide channel.

[0010] According to an embodiment of the present application, a pressure relief pipeline is included, and the pressure relief pipeline is connected between the pressure relief valve port and the flow guide member.

[0011] According to one embodiment of the present application, a flow regulating member is further included, and the flow regulating member is arranged between the pressure relief valve port and the flow guide member.

[0012] According to one embodiment of the present application, it includes multiple third flow guide tubes and multiple control valves, and both ends of the third flow guide tubes are respectively connected to the connecting valve ports of two control valves, so that the multiple third flow guide tubes are connected in sequence.

[0013] According to one embodiment of the present application, the control valve is a three-way valve.

[0014] According to another aspect of the present application, a robot is provided, which includes a pneumatic device and is externally connected to a high-pressure air supply device, wherein the high-pressure air supply device supplies air to the pneumatic device through the above-mentioned pneumatic system.

[0015] According to one embodiment of the present application, it further includes:

[0016] The base is provided with an assembly cavity and a first through hole and a second through hole communicating with the assembly cavity, the control valve is disposed in the assembly cavity, the first guide pipe extends from the high-pressure gas supply device through the first through hole to the assembly cavity, and the second guide pipe extends from another connecting valve port of the control valve through the second through hole to the pneumatic device;

[0017] a first drive assembly, the first drive assembly being disposed in the assembly cavity, the pressure relief valve port facing the drive assembly;

[0018] A robotic arm, one end of which is connected to the drive assembly, and the other end of which is connected to the pneumatic device.

[0019] According to one embodiment of the present application, it further includes:

[0020] A plurality of sequentially connected robotic arms, wherein one robotic arm at one end is connected to the first drive assembly, and the robotic arm at the other end is connected to the pneumatic device;

[0021] A plurality of second drive assemblies, wherein adjacent robotic arms are assembled and connected via the second drive assemblies;

[0022] A plurality of control valves, at least one of which is disposed in the assembly cavity and corresponds to the first drive assembly;

[0023] Multiple sections of third flow guide tubes, both ends of which are respectively connected to the connecting valve ports of two of the control valves, one of which is connected to the second through hole, so that multiple third flow guide tubes and multiple control valves are connected in series in sequence, and form a pneumatic fluid channel with the first flow guide tube and the second flow guide tube, wherein the pressure relief valve port of at least one of the control valves faces one of the second drive components.

[0024] According to one embodiment of the present application, it also includes a mounting bracket, the mounting bracket has a mounting cavity, the second drive assembly is arranged in the mounting cavity, the third guide pipe connects two adjacent mounting cavities, and the pressure relief valve port of at least one of the control valves faces the mounting cavity.

[0025] According to one embodiment of the present application, it also includes multiple joints, which are arranged in the first through hole, the second through hole and the installation cavity, so that the third flow guide tube is sealed and connected to the installation cavity through the joint, the first flow guide tube is sealed and connected to the assembly cavity through the joint, and the second flow guide tube is sealed and connected to the assembly cavity through the joint.

[0026] According to one embodiment of the present application, it also includes multiple limiting tubes, the pipe diameter of the limiting tubes is larger than the pipe diameter of the second guide tube, one end of one of the limiting tubes is connected to the assembly cavity, and the other end is connected to the installation cavity close to the assembly cavity, and the two adjacent installation cavities are connected through the limiting tube, and the third guide tube is connected to the corresponding connecting valve ports of the control valves in the two adjacent installation cavities along the pipe of the limiting tube.

[0027] According to an embodiment of the present application, the position-limiting tube is a flexible tube, and the position-limiting tube between two adjacent mounting frames has a displacement margin for the movement of the robotic arm.

[0028] As can be seen from the above technical solutions, the advantages and positive effects of the pneumatic system and robot of the present application are:

[0029] On the one hand, the first guide pipe and the second guide pipe can be connected through the two connecting valve ports of the control valve, so that the high-pressure air supply equipment outside the robot can supply air to the pneumatic equipment of the robot, and the pneumatic fluid channel can be used as the pneumatic system inside the robot. On the other hand, the high-pressure gas provided by the high-pressure air supply equipment can be discharged from the pressure relief valve port through the pressure relief valve port of the control valve. Then, the characteristic that the temperature of the high-pressure gas decreases when the pressure decreases can be used to quickly cool the heat dissipation components, avoid local heating, and improve the service life and reliability of the robot parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 A schematic diagram of the structure of a pneumatic system provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of a partial structure of a pneumatic system provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of another portion of the structure of a pneumatic system provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0036] Figure 5 Another structural schematic diagram of a robot provided in an embodiment of the present application.

[0037] 10. First flow guide pipe;

[0038] 20. Second flow guide pipe;

[0039] 30. Control valve; 31. Connecting valve port; 32. Pressure relief valve port;

[0040] 40. The third flow guide pipe;

[0041] 50. Flow guide; 60. Pressure relief pipe; 70. Flow regulating part;

[0042] 1. Machine base; 101. Assembly cavity; 102. First through hole; 103. Second through hole;

[0043] 2. First drive assembly; 3. First reducer; 4. Robotic arm; 5. Second drive assembly; 6. Mounting frame; 601. Mounting cavity; 7. Connector; 8. Limiting tube; 9. Lead screw; 100. Pneumatic equipment. DETAILED DESCRIPTION

[0044] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] The use of robots has been applied in more and more technical fields. The common working mode of robots is to drive the pneumatic equipment 100 to adjust its position through the robot, and to drive the pneumatic equipment 100 to perform corresponding production operations through the pneumatic system inside the robot. When the servo motor of the SCARA (horizontal multi-joint) industrial pneumatic system is working, there will be heat, which affects the performance and life of the motor. However, during the use of the robot, some parts often heat up locally, and the heat cannot be dissipated, which ultimately affects the life of the parts, which increases the user's usage cost.

[0046] This application can effectively reduce the temperature of the motor and improve the reliability and service life of the motor.

[0047] According to one aspect of the present application, a pneumatic system is provided, including: a first flow guide tube 10, a second flow guide tube 20 and a control valve 30, the first flow guide tube 10 including a first interface and a second interface, the first interface being connected to a high-pressure air supply device external to the robot; the second flow guide tube 20 including a first connection port and a second connection port, the first connection port being connected to the pneumatic device 100 of the robot; the control valve 30 including two connecting valve ports 31 and a pressure relief valve port 32, one of the connecting valve ports 31 being connected to the second interface, and the other connecting valve port 31 being connected to the second connection port, the pressure relief valve port 32 facing the component to be dissipated heat, the first flow guide tube 10 and the second flow guide tube 20 being connected through the control valve 30 to form a pneumatic fluid channel, and the high-pressure air supply device supplies air to the pneumatic device 100 through the pneumatic fluid channel.

[0048] refer to Figure 1-3 As shown, on the one hand, the first flow conduit 10 and the second flow conduit 20 can be connected through the two connecting valve ports 31 of the control valve 30, so that the high-pressure air supply equipment outside the robot can supply air to the pneumatic equipment 100 of the robot, and the pneumatic fluid channel can be used as the pneumatic system inside the robot. On the other hand, the high-pressure gas provided by the high-pressure air supply equipment can be discharged from the pressure relief valve port 32 through the pressure relief valve port 32 of the control valve 30. Then, the characteristic that the temperature of the high-pressure gas decreases when the pressure decreases can be used to quickly cool the heat dissipation components, avoid local heating, and improve the service life and reliability of the robot parts.

[0049] The control valve 30 controls the flow rate of gas flowing out of the pressure relief valve port 32 toward the component to be cooled, thereby controlling the opening and closing of the pressure relief valve port 32 and the connecting port, thereby directing high-pressure gas to the component to be cooled through the pneumatic fluid channel or through the pressure relief valve port 32. By utilizing the characteristic that the temperature of high-pressure gas decreases when the pressure is reduced, the heat dissipation component can be cooled. The component to be cooled can be positioned at the location of the motor and reducer within the robot, and the high-pressure pneumatic fluid channel within the robot can then supply air to the pneumatic device 100 while rapidly cooling the component to be cooled through the pressure relief valve port 32.

[0050] According to one embodiment of the present application, a flow guide 50 is further included. One end of the flow guide 50 is connected to the pressure relief valve port 32, and the other end extends to the component to be cooled. The flow guide 50 forms a flow channel through which gas from the pressure relief valve port 32 flows toward the component to be cooled. The flow guide 50 can be configured as a pipe extending from the pressure relief valve port 32 toward the component to be cooled, with its opening gradually widening, so that the high-pressure gas can quickly reduce the heat of the component to be cooled while releasing pressure.

[0051] According to one embodiment of the present application, a pressure relief pipe 60 is included, and the pressure relief pipe 60 is connected between the pressure relief valve port 32 and the guide member 50. The pressure relief pipe 60 allows for flexible adjustment of the position between the pressure relief valve port 32 and the guide member 50. The guide member 50 has a first guide port and a second guide port. The first guide port is connected to the pressure relief pipe 60, and the second guide port faces the heat dissipation element to be cooled, thereby directing high-pressure gas to the heat dissipation element to be cooled, thereby improving the heat dissipation accuracy of the heat dissipation element to be cooled.

[0052] According to one embodiment of the present application, a flow regulating member 70 is further provided between the pressure relief valve port 32 and the flow guide member 50. The pressure relief line 60 and the end of the pressure relief line 60 are provided with a reverse flow component and / or a flow and pressure control element. The reverse flow component facilitates better cooling of the heat-generating components, and the flow and pressure control element better controls the gas flow and pressure.

[0053] According to one embodiment of the present application, a plurality of third flow conduits 40 and a plurality of control valves 30 are included. The ends of the third flow conduits 40 are respectively connected to the connecting valve ports 31 of two of the control valves 30, so that the plurality of third flow conduits 40 are sequentially connected. The plurality of control valves 30 are connected via the plurality of third flow conduits 40, so that the high-pressure gas can be distributed to different locations of the heat components to be cooled, providing flexibility in use.

[0054] The control valve 30 is a three-way valve, which has a flow regulating function and can adjust the gas flow and pressure as needed. In some cases, it can also accurately cool the heating components at a fixed point and in a fixed quantity as needed.

[0055] According to another aspect of the present application, a robot is provided, which includes a pneumatic device 100 and is externally connected to a high-pressure gas supply device, wherein the high-pressure gas supply device supplies gas to the pneumatic device 100 through the above-mentioned pneumatic system.

[0056] According to one embodiment of the present application, it also includes: a machine base 1, a first drive component 2 and a robotic arm 4, the machine base 1 is provided with an assembly cavity 101 and a first through hole 102 and a second through hole 103 connected to the assembly cavity 101, the control valve 30 is arranged in the assembly cavity 101, the first flow guide pipe 10 extends from the high-pressure air supply equipment through the first through hole 102 to the assembly cavity 101, the second flow guide pipe 20 extends from the other connecting valve port 31 of the control valve 30 through the second through hole 103 to the pneumatic equipment 100, the first drive component 2 is arranged in the assembly cavity 101, and the pressure relief valve port 32 faces the drive component; one end of the robotic arm 4 is connected to the drive component, and the other end of the robotic arm 4 is connected to the pneumatic equipment 100.

[0057] Typically, the SCARA robot body is equipped with an air pipe connected to a high-pressure air supply and an air pipe connector 7 provided on the base 1. The robot needs to be used with a tooling at the end of the screw. Typically, the tooling is a pneumatic device 100. When using the pneumatic device 100, it is usually necessary to connect the air pipe leading from the high-pressure air supply directly to the pneumatic device 100 on one side of the robot arm 4 to provide a power source for the pneumatic device 100.

[0058] In the present application, the high-pressure air supply equipment can be connected to the air pipe connector 7 at the mounting bracket 6 in sequence through the first flow guide pipe 10, a control valve 30, the third flow guide pipe 40, another control valve 30, and the second flow guide pipe 20, and then connected to the mounting cavity 601 to dissipate heat for the second drive component 5 of the mounting cavity 601. The high-pressure gas passes through the first flow guide pipe 10, the connector 7 on the machine base 1, the control valve 30 and the assembly cavity 101 in sequence to cool the first drive component 2 in the assembly cavity 101, the third flow guide pipe 40, the connector 7 on the mounting bracket 6 and the control valve 30 in the installation cavity 601, and then through the second flow guide pipe 20 to connect to the pneumatic equipment 100 to provide a power source for the pneumatic equipment 100.

[0059] refer to Figure 4-Figure 5As shown, according to an embodiment of the present application, it also includes a plurality of sequentially connected robotic arms 4, one of the robotic arms 4 at one end is connected to the first drive assembly 2, and the robotic arm 4 at the other end is connected to the pneumatic device 100; and the robot also includes a plurality of second drive assemblies 5, adjacent robotic arms 4 are assembled and connected through the second drive assemblies 5, and a plurality of control valves 30, at least one of the control valves 30 is arranged in the assembly cavity 101 corresponding to the first drive assembly 2; and a plurality of third conduits 40, both ends of the third conduits 40 are respectively connected to the connecting valve ports 31 of two control valves 30, one of the third conduits 40 is connected to the second through hole 103, so that the plurality of third conduits 40 and the plurality of control valves 30 are sequentially connected in series, and form a pneumatic fluid channel with the first conduit 10 and the second conduit 20, wherein the pressure relief valve port 32 of at least one control valve 30 faces one of the second drive assemblies 5. Furthermore, the second drive assembly 5 in each installation cavity 601 is cooled by the control valve 30, thereby further reducing heat concentration during use of the robot.

[0060] The pressure relief valve port 32 can be connected to the flow guide 50 or the flow regulating member 70 to control the flow of depressurized cooling gas to the first drive assembly 2, achieving rapid cooling. The mounting cavity 601 and the assembly cavity 101 can effectively concentrate the cooling gas, improving the heat exchange efficiency between the cooling gas and the first drive assembly 2. Furthermore, the base 1 is provided with a flow hole, through which the gas after heat exchange with the first drive assembly 2 is discharged to the outside through the flow hole.

[0061] According to one embodiment of the present application, the robot further includes a plurality of mounting frames 6, each of which is provided with a mounting cavity 601. The plurality of mounting frames 6 correspond one-to-one to a plurality of second drive assemblies 5, and the second drive assemblies 5 are arranged in the mounting cavity 601. The third flow guide tube 40 connects two adjacent mounting cavities 601, and the pressure relief valve port 32 of at least one of the control valves 30 faces the mounting cavity 601.

[0062] According to one embodiment of the present application, it also includes a connector 7 assembly, which includes multiple connectors 7. The multiple connectors 7 are arranged in the first through hole 102, the second through hole 103 and the installation cavity 601, so that the third flow guide tube 40 is sealed and connected to the installation cavity 601 through the connector 7, the first flow guide tube 10 is sealed and connected to the assembly cavity 101 through the connector 7, and the second flow guide tube 20 is sealed and connected to the assembly cavity 101 through the connector 7.

[0063] According to one embodiment of the present application, it also includes multiple limiting tubes 8, the pipe diameter of the limiting tubes 8 is larger than the pipe diameter of the second guide tube 20, one end of one of the limiting tubes 8 is connected to the assembly cavity 101, and the other end is connected to the installation cavity 601 close to the assembly cavity 101, and the two adjacent installation cavities 601 are connected through the limiting tube 8, and the third guide tube 40 is connected to the corresponding connecting valve port 31 of the control valve 30 in the two adjacent installation cavities 601 along the pipe of the limiting tube 8.

[0064] According to an embodiment of the present application, the position-limiting tube 8 is a flexible tube, and the position-limiting tube 8 between two adjacent mounting frames 6 has a displacement margin for the movement of the robot arm 4 .

[0065] Specifically: This application proposes a horizontal multi-joint industrial pneumatic system pneumatic and cooling two-in-one system, which utilizes the high-pressure gas in its own pneumatic system to, on the one hand, enhance the circulation of airflow and cool the motor; on the other hand, according to the principle of thermodynamics, the temperature of high-pressure gas decreases when the pressure decreases, so as to cool the motor.

[0066] In one embodiment of the present application:

[0067] The present application proposes a horizontal multi-joint industrial pneumatic system pneumatic and cooling two-in-one system, including: a pneumatic system pressure source air pipe (equivalent to a first guide pipe 10), a first three-way valve (equivalent to a control valve 30 arranged in the assembly cavity 101), a first pressure relief air pipe (equivalent to a pressure relief pipeline 60), a pneumatic system body air pipe (equivalent to a third guide pipe 40), a second three-way valve (equivalent to the control valve 30 in the installation cavity 601), a second pressure relief pipeline 60, a pneumatic equipment 100 connecting air pipe (equivalent to the second guide pipe 20), and in some cases, also including: a connecting joint 7 for connecting with the control valve 30 and a quick-change joint 7 arranged on the mounting frame 6 or the machine base 1.

[0068] When the pneumatic device 100 needs high-pressure gas, the high-pressure gas passes through the pneumatic system pressure source air pipe, the first three-way valve, the pneumatic system body air pipe, the second three-way valve, the pneumatic device 100 connecting air pipe in sequence and reaches the pneumatic device 100.

[0069] When the pneumatic device 100 needs to release high-pressure gas, the high-pressure gas is sequentially released through the pneumatic device 100 connected to the air pipe, the second three-way valve, and the second pressure relief pipe 60 to the vicinity of the multiple motors on the robotic arm 4 to cool the motors;

[0070] Alternatively, the high-pressure gas generated by the high-pressure gas supply device is connected to the air pipe, the second three-way valve, the air pipe of the pneumatic system body, the first three-way valve, and the first pressure relief pipe 60 in sequence through the pneumatic device 100, and the high-pressure gas is released to the vicinity of the motor at the base 1 to cool the motor;

[0071] Part 1: SCARA pneumatic system structure and working principle

[0072] like Figure 1 As shown, the SCARA pneumatic system includes a base 1, a first motor, a first reducer 3, a first robotic arm 4, a second reducer, a second motor, a second robotic arm 4, a third motor, a fourth motor, a screw shaft, a screw nut assembly, and a spline nut assembly;

[0073] like Figure 4 As shown, the first motor is fixed to the base 1; the motor output shaft is connected to the first reducer 3 to form the first drive assembly 2; the second reducer's input end is connected to the second motor's output shaft, and its output end is connected to the first robotic arm 4; one end of the first robotic arm 4 is connected to the output end of the first reducer 3. Under the deceleration effect of the first reducer 3, the first motor drives the first robotic arm 4 and the components mounted on it to rotate about the J1 axis.

[0074] like Figure 4 As shown, the second motor is mounted on the second robotic arm 4. The input end of the second reducer is connected to the output shaft of the second motor, and the output end is connected to the first robotic arm 4. Under the deceleration effect of the second reducer, the second motor drives the second robotic arm 4 and the components mounted thereon to rotate around the J2 axis;

[0075] like Figure 4 As shown, the third motor is installed on the second robotic arm 4, and the third motor drives the screw 9 nut assembly. The screw 9 nut assembly is assembled with the lead rod to control the lead rod to move back and forth along the J3 axis. The fourth motor is installed on the second robotic arm 4, and the fourth motor drives the spline nut assembly to rotate. The spline nut is assembled with the lead rod, and with the cooperation of the screw 9 nut, the lead rod can be controlled to rotate around the J4 axis.

[0076] The SCARA pneumatic system is generally provided with an air pipe system, which consists of a quick-change joint 7 and the air pipe of the pneumatic system body, and leads from the machine base 1 to the second robot arm 4.

[0077] It's important to note that industrial pneumatic systems often need to be used in conjunction with end-use tooling. Some tooling utilizes pneumatic systems, so internal air piping is often installed to facilitate connections. If the air piping is external to the system, it will not move with it and could be pulled when the system is in motion.

[0078] Part 2: This application - SCARA pneumatic system pneumatic and cooling two-in-one system

[0079] The "trachea" mentioned above refers to a gas flow channel, such as a "pressure relief trachea", which can also be understood as a pressure relief channel.

[0080] This application proposes a two-in-one pneumatic and cooling system for a horizontal multi-jointed industrial pneumatic system, comprising: a pneumatic system pressure source air pipe, a first three-way valve, a first pressure relief air pipe, a pneumatic system main air pipe, a second three-way valve, a second pressure relief line 60, and an air pipe connecting the pneumatic device 100. In some cases, it also includes an adapter air pipe and a quick-change connector 7.

[0081] When the pneumatic device 100 requires high-pressure gas, the high-pressure gas flows sequentially through the pneumatic system pressure source air pipe, the first three-way valve, the pneumatic system main body air pipe, the second three-way valve, and the pneumatic device 100 connecting air pipe to reach the pneumatic device 100. When the pneumatic device 100 needs to release high-pressure gas, the high-pressure gas flows sequentially through the pneumatic device 100 connecting air pipe, the second three-way valve, and the second pressure relief pipe 60 to release the high-pressure gas near the second motor, the third motor, and the fourth motor on the second robotic arm 4 to cool the motors; or, the high-pressure gas flows sequentially through the pneumatic device 100 connecting air pipe, the second three-way valve, the pneumatic system main body air pipe, the first three-way valve, and the first pressure relief pipe to release the high-pressure gas near the first motor on the machine base 11 to cool the first motor.

[0082] like Figure 1 As shown, the pneumatic system pressure source air pipe has one end connected to the first three-way valve and the other end connected to the equipment supplying high-pressure gas. The pneumatic system pressure source air pipe is an external device of the pneumatic system and is installed on the first three-way valve when in use.

[0083] like Figure 1 As shown, the first three-way valve is characterized in that: it has three channels, and the three channels can control the opening and closing states of the three channels according to the situation; when the pneumatic equipment 100 requires high-pressure gas, the pneumatic system pressure source air pipe, the first three-way valve, and the pneumatic system body air pipe are connected, and the channel between the first pressure relief air pipe and the first three-way valve is closed; when the pneumatic equipment 100 needs to release pressure, the first three-way valve, the first pressure relief air pipe, and the pneumatic system body air pipe are connected, and the first three-way valve and the pneumatic system pressure source air pipe are closed.

[0084] The second three-way valve has the same function as the first three-way valve, but differs in its open and closed states.

[0085] For example, in some cases, when the gas released by the pneumatic device 100 is used to cool the first motor, the second motor, the third motor, and the fourth motor at the same time, the three channels of the second three-way valve are all in an open state, the channels between the first three-way valve and the first pressure relief air pipe and the air pipe of the pneumatic system body are in an open state, and the channels between the pneumatic system pressure source air pipe and the first three-way valve are in a closed state.

[0086] In some cases, the gas discharged from the pneumatic device 100 during decompression cannot meet the motor cooling requirements. High-pressure gas supplied by the high-pressure gas supply device can be used to cool the motor. In this case, the passage between the second three-way valve and the air pipe connecting to the pneumatic device 100 is closed, while the passages between the second pressure relief line 60 and the air pipe of the pneumatic system body are opened. All three passages of the first three-way valve are open.

[0087] Similarly, by controlling the first three-way valve and the second three-way valve, the first motor and the second, third and fourth motors can be selectively cooled.

[0088] like Figure 4 As shown, the first pressure relief air pipe is installed on the first three-way valve or is integrated with the first three-way valve. Some flow guide devices can be installed at its end as needed to facilitate better cooling of the motor.

[0089] like Figure 4 As shown, the second pressure relief line 60 is mounted on the second three-way valve or is integrated with the second three-way valve. Its end can be installed with some diversion devices as needed (for example, switching three channels, respectively close to the second, third, and fourth motors) to facilitate better cooling of the motors.

[0090] like Figure 4 As shown, the pneumatic device 100 is connected to an air pipe (equivalent to the second flow guide pipe 20), which is connected to the second three-way valve to supply high-pressure gas to the pneumatic device 100. The other end of the air pipe connecting the pneumatic device 100 is an external device of the pneumatic system and is only installed in the system when needed.

[0091] like Figure 5 As shown, in some cases, the first three-way valve and the pneumatic system pressure source air pipe, and the second three-way valve and the pneumatic device 100 connection air pipe need to be connected through a quick-change connector 7 and a conversion air pipe.

[0092] Typically, the SCARA robot body is provided with an air pipe and an air pipe connector 7. The robot needs to be used in conjunction with a tooling at the end of the screw rod. Typically, the tooling is a pneumatic device 100. When using the pneumatic device 100, the pressure source air pipe needs to be connected to the air pipe connector 7 at the base 1. The tooling is connected to the air pipe connector 7 at the second robotic arm 4 through the air pipe. High-pressure gas passes through the pressure source air pipe, the air pipe connector 7 (at the base 1), the body air pipe, the air connector 7 (at the second robotic arm 4), and the air pipe into the tooling.

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0094] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A pneumatic system, characterized in that: include: A first flow guide tube (10) comprising a first interface and a second interface, wherein the first interface is connected to a high-pressure gas supply device external to the robot; A second flow guide pipe (20) comprises a first connection port and a second connection port, wherein the first connection port is connected to the pneumatic device (100) of the robot; The control valve (30) comprises two connecting valve ports (31) and a pressure relief valve port (32), wherein one of the connecting valve ports (31) is connected to the second interface, and the other connecting valve port (31) is connected to the second connecting port, and the pressure relief valve port (32) faces the component to be cooled, and the first flow guide pipe (10) and the second flow guide pipe (20) are connected through the control valve (30) to form a pneumatic fluid channel, and the high-pressure air supply device supplies air to the pneumatic device (100) through the pneumatic fluid channel; It also includes a flow guide (50), one end of the flow guide (50) is connected to the pressure relief valve port (32), and the other end extends to the component to be cooled. The flow guide (50) forms a flow guide channel, and the gas in the pressure relief valve port (32) flows to the component to be cooled through the flow guide channel. The control valve (30) is a three-way valve.

2. The pneumatic system according to claim 1, wherein: It comprises a pressure relief pipeline (60), wherein the pressure relief pipeline (60) is connected between the pressure relief valve port (32) and the flow guide (50).

3. The pneumatic system according to claim 1, wherein: It also includes a flow regulating member (70), which is arranged between the pressure relief valve port (32) and the flow guide member (50).

4. The pneumatic system according to claim 1, wherein: It comprises a plurality of third flow guide tubes (40) and a plurality of control valves (30), wherein both ends of the third flow guide tubes (40) are respectively connected to the connecting valve ports (31) of two of the control valves (30), so that the plurality of third flow guide tubes (40) are connected in sequence.

5. A robot, characterized in that: The robot comprises a pneumatic device (100) and is externally connected to a high-pressure gas supply device, wherein the high-pressure gas supply device supplies gas to the pneumatic device (100) via the pneumatic system according to any one of claims 1 to 4.

6. The robot according to claim 5, wherein: Also includes: The machine base (1) is provided with an assembly cavity (101) and a first through hole (102) and a second through hole (103) communicating with the assembly cavity (101); the control valve (30) is arranged in the assembly cavity (101); the first flow guide pipe (10) extends from the high-pressure gas supply device through the first through hole (102) to the assembly cavity (101); and the second flow guide pipe (20) extends from another connecting valve port (31) of the control valve (30) through the second through hole (103) to the pneumatic device (100); a first drive assembly (2), the first drive assembly (2) being arranged in the assembly cavity (101), the pressure relief valve port (32) facing the drive assembly; A mechanical arm (4), one end of the mechanical arm (4) is connected to the drive assembly, and the other end of the mechanical arm (4) is connected to the pneumatic device (100).

7. The robot according to claim 6, characterized in that Also includes: A plurality of the robotic arms (4) are connected in sequence, wherein one of the robotic arms (4) located at one end is connected to the first drive assembly (2), and the robotic arm (4) located at the other end is connected to the pneumatic device (100); A plurality of second drive assemblies (5), wherein adjacent mechanical arms (4) are assembled and connected via the second drive assemblies (5); a plurality of control valves (30), at least one of the control valves (30) being arranged in the assembly cavity (101) corresponding to the first drive assembly (2); A plurality of third flow guide tubes (40), both ends of the third flow guide tubes (40) are respectively connected to the connecting valve ports (31) of the two control valves (30), one of the third flow guide tubes (40) is connected to the second through hole (103), so that the plurality of third flow guide tubes (40) and the plurality of control valves (30) are sequentially connected in series and form a pneumatic fluid channel with the first flow guide tube (10) and the second flow guide tube (20), wherein the pressure relief valve port (32) of at least one of the control valves (30) faces one of the second drive components (5).

8. The robot according to claim 7, wherein: The device further comprises a mounting frame (6), wherein the mounting frame (6) is provided with a mounting cavity (601), the second drive assembly (5) is arranged in the mounting cavity (601), the third flow guide pipe (40) is connected to two adjacent mounting cavities (601), and the pressure relief valve port (32) of at least one of the control valves (30) faces the mounting cavity (601).

9. The robot according to claim 8, wherein: The device further comprises a plurality of joints (7), wherein the joints (7) are arranged at the first through hole (102), the second through hole (103) and the installation cavity (601), so that the third flow guide tube (40) is in sealed communication with the installation cavity (601) through the joints (7), the first flow guide tube (10) is in sealed communication with the assembly cavity (101) through the joints (7), and the second flow guide tube (20) is in sealed communication with the assembly cavity (101) through the joints (7).

10. The robot according to claim 9, wherein: It also includes a plurality of limiting tubes (8), the pipe diameter of the limiting tubes (8) is larger than the pipe diameter of the second guide tube (20), one end of one of the limiting tubes (8) is connected to the assembly cavity (101), and the other end is connected to the installation cavity (601) close to the assembly cavity (101), and the two adjacent installation cavities (601) are connected through the limiting tube (8), and the third guide tube (40) is connected to the corresponding connecting valve ports (31) of the control valves (30) in the two adjacent installation cavities (601) along the pipe of the limiting tube (8).

11. The robot according to claim 10, wherein: The position-limiting tube (8) is a flexible tube, and the position-limiting tube (8) between two adjacent mounting frames (6) has a displacement margin for the movement of the mechanical arm (4).

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